CN101986756A - Time-reversal signal-based wireless positioning scheme - Google Patents
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- CN101986756A CN101986756A CN2010105176172A CN201010517617A CN101986756A CN 101986756 A CN101986756 A CN 101986756A CN 2010105176172 A CN2010105176172 A CN 2010105176172A CN 201010517617 A CN201010517617 A CN 201010517617A CN 101986756 A CN101986756 A CN 101986756A
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Abstract
The invention discloses a time-reversal signal-based mobile station positioning method in a wireless communication system. In the method, a time reversal signal for channel impulse response between two fixed base stations is taken as an active component of a positioning signal; and a mobile station transmits a time reversal impulse response to a receiving party in the fixed base station at the positioned position and resolves the distance between the mobile station and the base station according to functional relationship of the received signal-related peak value and distance so as to establish a positioning equation. The mobile station positioning method can meet the demands for positioning in a severe non-line-of-sight transmission area. Compared with the conventional method which is based on arrival time, arrival angle and signal strength, the method can reduce the measurement and calculation processing work, and improve the positioning accuracy.
Description
Technical field
The invention belongs to electronic technology field, as radio communication, mobile communication etc., particularly in the mobile communication networks such as radio honeycomb communication, wireless sensor network, WLAN (wireless local area network) to the location of travelling carriage.
Background technology
Location to travelling carriage in the radio communication is an important use, and not only user itself wishes to obtain the positional information of self, and other relatives such as Virtual network operator also wish to obtain the positional information of user of mobile station, and is relevant professional to carry out.
In the wireless location technology, location observation amounts such as general intensity by the measurement radio signal, the time of advent, arrival bearing angle obtain to locate required observed quantity.Under city or interior of building had environment than multi-obstacle avoidance, radio signal can experience processes such as the reflection, refraction, scattering of barrier in the air, and the non-rectilinear that forms signal is propagated, and is called non line of sight (NLOS) and propagates.Under the more situation in non-line-of-sight propagation path, can have a strong impact on the dependency relation between measured location observation amount (referring to signal strength signal intensity, the time of advent, arrival direction angle) and the location of mobile station, thereby cause the error of location.Under the situation that can't distinguish non-line-of-sight propagation (NLOS) and line-of-sight propagation (LOS) signal, traditional location technology attempts to alleviate the influence of non-line-of-sight propagation, mainly comprises the location technology of utilizing location observation quantitative statistics characteristic and " fingerprint " location technology of utilizing the signal propagation characteristic.For preceding a kind of method, a kind of method during " utilizing signal to reach the method and the device of time and time difference estimating position of mobile station ", Chinese patent publication number CN1413058 is proposed, all base stations that connect according to travelling carriage the time of advent TOA with the measured value that differs from TDOA the time of advent of relative dominant base, obtain relevant statistical information, again according to statistical information construction operation matrix, the position of using the weighted linear least square method to estimate travelling carriage twice utilizes the minimum range difference to select the final position estimated value at last.This method has effect preferably under the situation that can accurately measure the time of advent, but the measuring amount of location is bigger, and computational process is more complicated also, in the measurement requirement measuring process based on TOA good time synchronized is arranged simultaneously; The signal that " fingerprint " location technology is launched by a large amount of location point of measuring in the locating area of being concerned about, set up " fingerprint " property data base that the diverse location point transmits, feature contrast in the feature of the signal that records when utilizing actual location then and " fingerprint " storehouse, thus position.Document " RADAR:An In-Building RF-based User Location and Tracking System " (INFOCOM 2000.Nineteenth Annual Joint Conference of the IEEE Computer and Communication Societies.Proceeding.IEEE.pp.775-784.vol.2.) has been described a kind of fingerprint location technology based on channel measurement intensity.The method that proposes in this article has positioning result preferably in less space, but need carry out a large amount of measurements, sets up " received signals fingerprint " of a large amount of sampled points in the zone of investigating, to carry out the comparison of measured signal.
The location technology of these traditional inhibition non line of sight influences, there are a lot of shortcomings in the practical application, measure in a large number as needs, or positioning calculation process complexity, the perhaps fingerprint database of signal inefficacy etc. owing to the barrier position change, its locating effect is still very low, especially, these technology all are to suppress the processing of non line of sight error later on receiving measuring-signal, before the measured radio signal of emission, all less than doing special processing at the non-line-of-sight propagation of signal.
The present invention is directed to the orientation problem under non-line-of-sight propagation comparison serious environmental, the travelling carriage that is positioned is anticipated signal at non-line-of-sight propagation before transmitting, thereby reduce position error.The present invention suppresses the technology of non line of sight position error with respect to tradition, and it is simple to have processing procedure, need not a large amount of measurements, need not to set up the characteristics of a large amount of signal characteristic databases, and changes of can accomplishing to conform at any time, locatees in real time fast.
Summary of the invention
A. goal of the invention: the purpose of this invention is to provide a kind of targeting scheme at mobile communication terminal based on signal time reversal, be used for travelling carriage being positioned, particularly in the non-line-of-sight propagation serious environmental at cordless communication network (for example cellular communications network, sensor network, WLAN (wireless local area network) etc.).The present invention has mainly utilized the space-time focus characteristics of signal time reversal, be used to be reduced in the error that positions under the comparatively serious radio signal non-line-of-sight propagation environment, also reduce simultaneously the data processing work amount of location under the nlos environment, and strengthen the adaptive capacity of targeting scheme environment change.
B. technical scheme: targeting scheme of the present invention is made up of framing signal method for designing and method of locating terminal two parts.
One, framing signal method for designing:
The framing signal method for designing is according to a kind of special wireless signal transmission of the principle design of time reversal, the steps include:
1.1. at first specifying a base station is locating base station, another base station is a communication base station, measures the channel impulse response of communication base station to locating base station;
1.2. write down the 1.1st channel impulse response that obtains of step and the maximum of this response, this maximum dwindled certain proportion as power controlled target level value;
1.3. after channel impulse response carried out the AD analog-to-digital conversion, doing time reversal handles, channel response sequence is hit in recoil when obtaining, the identification code of the communication base station of this impulse response correspondence of affix before or after this sequence, and power controlled target level value, obtain the framing signal corresponding to this communication base station of travelling carriage;
Two, method of locating terminal:
Method of locating terminal can be divided into the method in early-stage preparations stage, location survey stage and positioning calculation stage in chronological order, promptly at first carries out early-stage preparations, positions measurement again, carries out positioning calculation at last.
A. early-stage preparations stage:
The purpose in this stage is to be based upon the received signal greatest measurement of investigating travelling carriage locating base station when each sampled point transmits in the zone and sampled point to the corresponding relation of the distance at communication base station center, the steps include:
2.1. a selected energy is regional as investigating by the zone that a plurality of communication base stations cover, and determines the coordinate of these base stations;
2.2 select a communication base station as tested base station, select a locating base station and remain constantly, utilize framing signal method for designing in this programme to obtain to framing signal that should communication base station; And select the communication base station position as measuring the sampled point that uses for the first time, make i=0, L
0=0;
2.3. travelling carriage has the non-framing signal of certain level amplitude to the locating base station emission on selected sampled point, and carry out power by the feedback of locating base station and control, guarantee to have the power controlled target level value that indicates in the framing signal when signal arrives locating base station, thereby obtain the transmitted power level that travelling carriage should use at this sampled point;
2.4. travelling carriage is launched framing signal at sampled point to locating base station, time recoil is wherein hit response and is for conversion into analog waveform through digital-to-analogue AD, and the maximum of this waveform is the transmitted power level that previous step is determined, other proportional convergent-divergents of value constantly;
2.5. locating base station record travelling carriage is when sampled point emission framing signal, the maximum Si (when i=0, S0 is the framing signal maximal correlation peak intensity that locating base station records when launching at the communication base station place) of the signal correction peak intensity of response is hit in time recoil in its framing signal that measures; The also communication base station identification code in the tracer signal simultaneously;
2.6. in this investigation zone, reselect the sampled point of the selected communication base station different distance of a distance, make the value of i increase by 1, measure and write down the distance L i of this sampled point to communication base station, repeating step 2.3 to 2.6 is not less than 3 number up to the selected sampling number to the communication base station different distance greater than one;
2.7. carry out reprocessing, obtain correlation peak signal intensity and sampled point according to the following steps to the functional relation between the selected communication base station distance:
----2.7.1: the maximum correlation peak strength S of setting the signal that the base station, position receives and travelling carriage satisfy following functional relation (below be referred to as relevant peaks-distance function concern) to the distance L between the communication base station:
S＝aS
0e
-bL ………………………(1)
Wherein S0 is the travelling carriage maximum signal that locating base station records when communication base station place emission framing signal in abovementioned steps 2.5, and e is the truth of a matter of natural logrithm, and a, b are the positioning relation coefficients, and be unknown number this moment;
----2.7.2: the maximum received signal strength (S1 of the sampled point correspondence at the non-communication base station of each that will record place, S2,) with corresponding distance (L1, L2 ...) the above-mentioned functional relation of substitution (1), obtain positioning relation coefficient a by solving an equation, b, and note this communication base station identification code and coefficient S 0, a, the corresponding relation of b.
2.8. select to cover another different communication base station of one's respective area, and keep locating base station constant, repeating step 2.3 to 2.7 (comprise under 2.7 2.7.1 step by step to 2.7.2), the framing signal relevant peaks-distance function that obtains corresponding each communication base station concerns.
B. location survey stage:
This stage limits the position of travelling carriage in the zone of early-stage preparations stage selection, and the step of method of measurement is:
2.10. be chosen in the communication base station that can cover this travelling carriage that the early-stage preparations stage tested, locating base station remains unchanged, design is to framing signal that should communication base station, and writes down the coordinate of this base station;
2.11. location of mobile station remains unchanged, the non-framing signal that has certain level amplitude to the locating base station emission, and carry out power by the feedback of locating base station and control, guarantee to have the power controlled target level value that indicates in the framing signal when signal arrives locating base station, thereby obtain the transmitted power level that travelling carriage should use at this sampled point;
2.12. location of mobile station remains unchanged to locating base station emission framing signal, time recoil is wherein hit response and is for conversion into analog waveform through digital-to-analogue DA, and the maximum of this waveform is the transmitted power level that previous step is determined, other proportional convergent-divergents of value constantly;
2.13. during locating base station record travelling carriage emission framing signal, the maximum S of the signal correction peak intensity of response is hit in the time recoil in its framing signal that measures
k(k=1,2 ..., the maximum correlation peak intensity level that measures during the framing signal of k communication base station of expression emission), the while is the communication base station identification code in the tracer signal also;
2.14. locating base station remains unchanged, and is chosen in another communication base station that can cover travelling carriage of testing in the early-stage preparations stage, the k value increases by 1, and repeating step 2.10-2.13 counts k more than or equal to 2 up to selected communication base station.
C. positioning calculation stage:
Calculation procedure is:
2.11. the communication base station identification code that is write down according to the location survey stage obtains the parameter S 0 of employed communication base station, a, and b, and calculate distance between travelling carriage and the communication base station according to the inverse function formula (2) of (1) formula:
L
k＝-(1/b
k)lna
k(S
k/S
0k) ………………………………………(2)
L wherein
kBe the distance of travelling carriage to communication base station k, a
k, b
k, S
0kBe the parameter in the positioning relation formula (1) of communication base station k correspondence, S
kThe framing signal maximal correlation peak intensity that locating base station records when being the framing signal of travelling carriage emission communication base station k correspondence in the step 2.13.
2.12. supposition has been launched the framing signal of a corresponding n communication base station altogether at aforementioned location survey stage travelling carriage, is obtaining the distance (L of this n communication base station to travelling carriage
1, L
2..., L
n) the basis on, set up following positioning equation according to the geometric distance formula:
Wherein (x, the y) plane coordinates of expression travelling carriage, the unknown number of finding the solution for needs; (ε
1, ε
2..., ε
n) be measure error; (x
1, y
1), (x
2, y
2) ..., (x
n, y
n) be the coordinate of communication base station, this coordinate obtains in the location survey stage; (L
1, L
2..., L
n) be the travelling carriage that calculates in the step 2.11 and the distance of communication base station.
2.13. separate above-mentioned equation, obtain the travelling carriage coordinate.
C. the operation principle of this programme:
The location of this programme has utilized the space-time focus characteristics of signal time reversal.Because the framing signal of emission is the backward signal of channel impulse response in the location, therefore signal has been equivalent to finish a communication base station to the channel impulse response of locating base station and the related operation of current channel impulse response in the communication process from the travelling carriage to the locating base station, and the signal strength signal intensity maximum that locating base station measures is actually the peak value of signal correction computing.Because channel has weak relevant nature, according to the random signal theory, with the former channel impulse response identical signal of communication base station to locating base station, its correlation peak maximum.Therefore have only when the position of travelling carriage at the communication base station of close its framing signal correspondence to transmit, the correlation peak that receives just has maximum, and travelling carriage is far away more from communication base station, and correlation peak is more little.The utilization index attenuation relation is simulated the relation of correlation peak and distance among the present invention, and uses it for the location of travelling carriage.
D. benefit of the present invention:
Recoil was hit response signal and is carried out wireless location when the present invention utilized, and utilized the relevant peaks intensity level to find the solution distance measure, and with respect to utilizing intensity measurements to find the solution distance, precision increases; With respect to received signals fingerprint or signal map positioning mode, the sampled point that needs reduces greatly simultaneously.Therefore in the more serious zone of non-line-of-sight propagation, calculating in its position fixing process and surveying work amount significantly reduce, and precision increases.
E. embodiment:
Scheme among the present invention is an integral body, and wherein the framing signal method for designing is applied in the step of early-stage preparations stage of localization method and measuring phases.A kind of concrete enforcement of this programme such as Fig. 6, Fig. 7, shown in Figure 8.
Fig. 7 represents the framing signal design process.In the framing signal design process, when needs design the framing signal of corresponding communication base station 1, at first allow communication base station 1 pass through link 7 to locating base station 4 send channel training signals, locating base station estimates the channel impulse response of link 7 according to the signal that receives, write down the maximum of this impulse response, with this maximum as power controlled target level value (being the power level value that signal should have when arriving locating base station); Do time reversal then after the impact response digitlization and handle, and the identification code of added communications base station 1 and power controlled target level value, form the framing signal frame of corresponding communication base station 1; Send this signal to communication base station 1 as the content (promptly transmit be digital signal) of communication, this signal of this base station stored, and in the needs location, this framing signal is broadcast to travelling carriage as the content of communication.Fig. 8 is the frame structure of the framing signal of above-mentioned design.
When among design other communication base stations such as Fig. 7 during 2,3 framing signal, its process is the same.
Fig. 6 represents the step in early-stage preparations stage.At first determine a zone that is covered by three communication base stations 101,201,301, with the grey colour specification in this zone, the circle of dotted line and solid line is represented each signal of base station coverage among the figure.Determine and note the coordinate of each base station 101,201,301.The purpose in this stage is response signal received signal relevant peaks intensity level and distance when launching hit in the time recoil of setting up each communication base station on different distance a functional relation.Therefore at each communication base station, selecting sampled point on the different distance in this base station, as among Fig. 6 102,103,202,203, shown in 302,303, the position at locating base station 101,201,301 places is also as a special sampled point simultaneously.With the example that is measured as, at first design framing signal, and be broadcast to travelling carriage by communication base station at communication base station 101 to communication base station 101.
Mobile station in selecting is in the same framing signal of each different sampled points emission, at first in the emission of the position at communication base station 101 places.Travelling carriage before sampled point emission framing signal, is measured the distance of this sampled point to communication base station 101 earlier at every turn; Then by emission non-framing signal (as the channel training signal), and carry out the adjustment of transmitting power by the feedback of locating base station, its intensity was the power level value (this intensity level remains unchanged in the whole measuring process to this communication base station) that illustrates in the framing signal when locating base station was received.After power control is finished like this, just determined the transmitting power that travelling carriage adopt when this sampled point 101 transmits.
Determine after the transmitting power, travelling carriage during with the digitlization in the framing signal inverse channel impulse response carrying out DA change, form analog waveform signal, launch the power of framing signal then with fixed transmitting power adjustment, making its waveform maximum is this transmitted power level value, wave-shape amplitude on the other times point is proportional successively dwindles, and launches to locating base station then;
After locating base station received, its intensity level that measures had comprised the framing signal and the correlation peak of channel impulse response of emission, thereby had reflected the similarity degree of the channel impulse response that the signal launched is corresponding with the backward of framing signal.Locating base station writes down this maximum intensity value, and the identification code of the communication base station that comprises in this framing signal.
Travelling carriage is transferred to next sampled point as 102,103 places after 101 positions, base station are measured and launched signal, repeat above measurement and emission process.Employed sampled point number will guarantee more than three wherein have to be the position at communication base station 101 places.Keep employed framing signal (comprising power controlled target level) constant in the measuring process.
The framing signal intensity correlation of travelling carriage in each sampled point emission measured and write down to locating base station when travelling carriage transmits, after all sampled points have all write down, with these values and corresponding measuring distance substitution formula 1 thereof, utilize nonlinear regression analysis, or the method for solving an equation, can be in the hope of the coefficient a in the formula 1, b, thus relevant peaks-distance function of setting up about communication base station 101 concerns.
After the measuring process of communication base station 101 is finished, continue to measure other communication base stations as 201,301, the quantity of the communication base station that assurance is measured is greater than two.To remain unchanged be 401 to locating base station in the measuring process.Like this then fitting function that obtain framing signal relevant peaks and the distance in the zone of investigating concern (1) with and inverse function (2).Sampled point is close more, and the match relation that then obtains is accurate more.
Fig. 7 also represents the location survey process of this programme.In the location survey process, the travelling carriage holding position is constant, successively the framing signal of corresponding certain communication base station of emission.Signal with communication base station 1 is an example, and travelling carriage 5 needed the definite transmitting power that should use before the emission framing signal.Travelling carriage is at first launched non-framing signal (as the channel training signal), carry out power control by the feedback of power controlled target level in the signal and locating base station, the transmitting power that acquisition needs, thus guarantee that the signal that locating base station receives has the power level value of appointment.Travelling carriage 5 sends by link 15 to the signal of locating base station 4 in the process, and the power level adjusted value of locating base station feedback sends by link 16.
After transmitting power is determined, the framing signal of travelling carriage 5 these communication base stations of emission, the time recoil in the framing signal is hit response and is for conversion into analog waveform by DA, and its maximum is fixed transmitted power level value, other values are proportional dwindles, and then sends by link 15.
Locating base station received signal, and the maximum correlation peak intensity level of the signal that arrives of recorder, and the communication base station identification code in this signal.
After the signal transmission of base station 1 and record were finished, travelling carriage continued to send the signal of corresponding communication base station 2 and 3, repeats said process, obtains the maximum correlation peak intensity level of three communication base stations.
The relevant peaks intensity level that utilizes functional relation (2) and recorded can be obtained travelling carriage to communication base station 1,2,3 distance, thus can set up geometric distance equation group (3).This equation is a Nonlinear System of Equations, can utilize several different methods to find the solution, as utilizes Taylor expansion to carry out the laggard row iteration of linearisation and find the solution.
Description of drawings
Fig. 1 is the diagram of framing signal method for designing step in this programme.
Fig. 2 is the diagram of each stage order of method of locating terminal in this programme.
Fig. 3 is the step in terminal positioning early-stage preparations stage.
Formula in the step (1) is:
S＝aS
0e
-bL ………………………(1)
Wherein S0 is the travelling carriage maximum signal that locating base station records when communication base station place emission framing signal in abovementioned steps 2.5, and e is the truth of a matter of natural logrithm, and a, b are the positioning relation coefficients;
Fig. 4 is the step of terminal positioning measuring phases.
Fig. 5 is the step in terminal positioning positioning calculation stage.
Formula in the step (2) is:
L
k＝-(1/b
k)lna
k(S
k/S
0k) ………………………………………(2)
L wherein
kBe the distance of travelling carriage to communication base station k, a
k, b
k, S
0kBe the parameter in the positioning relation formula (1) of communication base station k correspondence, S
kThe framing signal maximal correlation peak intensity that locating base station records when being the framing signal of travelling carriage emission communication base station k correspondence
Fig. 6 selects to investigate zone and sampled point schematic diagram the early-stage preparations stage, wherein:
101,201,301: communication base station;
401: locating base station;
102,103: the sampled point of selecting when communication base station 101 is measured;
202,203: the sampled point of selecting when communication base station 201 is measured;
302,303: the sampled point of selecting when communication base station 301 is measured.
Fig. 7 is the explanation of terminal positioning process, wherein:
1,2,3: communication base station;
4: portable terminal;
5: locating base station;
6,8,10: locating base station is to the communication link of communication base station;
7,9,11: communication base station is to the communication link of locating base station;
12,13,14: communication base station is to the communication link of travelling carriage;
15: travelling carriage is to the communication link of locating base station;
16: locating base station is to the communication link of travelling carriage.
Fig. 8 is a kind of frame structure of framing signal.
Claims (5)
- In the wireless communication system based on method that time reversal, signal positioned travelling carriage, it is characterized in that: use later communication base station of elapsed time counter-rotating and the channel impulse response between the locating base station as the framing signal main component, the framing signal of utilizing many sampled point measurements to come the match travelling carriage to send to locating base station transmits the functional relation (concerning hereinafter to be referred as relevant peaks intensity-distance function) of the relevant peaks intensity level that produced and the distance between travelling carriage and the communication base station in real channel, and and then with the anti-distance of asking between travelling carriage and the communication base station of the relevant peaks intensity level that records, set up positioning equation with this distance then.
- 2. the framing signal method for designing described in the 1st of claims the steps include:(1) at first specifying a base station is locating base station, and another base station is a communication base station, measures the channel impulse response of communication base station to locating base station;(2) channel impulse response that obtains of (1) step of record and the maximum of this response are dwindled certain proportion as power controlled target level value with this maximum;(3) channel impulse response is carried out the AD analog-to-digital conversion after, doing time reversal handles, channel response sequence is hit in recoil when obtaining, the identification code of the communication base station of this impulse response correspondence of affix before or after this sequence, and power controlled target level value, obtain the framing signal corresponding to this communication base station of travelling carriage
- 3. as the functional relation of the 1st described relevant peaks intensity of claims and distance, promptly with following functional relation represent to propagate communication base station to the time reversal between the locating base station relevant peaks intensity that channel impulse response is produced with communicate by letter-locating base station between the relation of distance:S＝aS 0e -bLS wherein 0Be the travelling carriage peak signal relevant peaks intensity level that locating base station records when communication base station place emission framing signal, e is the truth of a matter of natural logrithm, and a, b are constant coefficients;
- 4. method of asking for the relevant peaks intensity described in the 1st and the 3rd of claims-distance function relation, it is characterized in that: a plurality of sampled points of choosing different distance between communication base station and the locating base station, measure these sampled points to the distance between the communication base station, and the signal correction peak intensity value that locating base station receives when measuring travelling carriage sending framing signal on these sampled points, the distance that will record and signal correction peak intensity value substitution relevant peaks intensity-distance function relational expression then, try to achieve the unknown parameter a in this functional relation by solving an equation, b;
- 5. the method for the positioning equation described in the 1st of a foundation such as claims, it is characterized in that: according to the inverse function of the relevant peaks intensity that measures and relevant peaks intensity-distance function relation, ask for travelling carriage to the distance between the communication base station, set up positioning equation with this distance and geometric distance formula then.The inverse function of relevant peaks intensity-distance function concerns as shown in the formula expression:L＝-(1/b)lna(S/S 0)The S signal correction peak intensity value that is travelling carriage locating base station measures when emission framing signal in position undetermined wherein, S 0Be the travelling carriage signal correction peak intensity value that locating base station records when communication base station place emission framing signal, ln is a symbol of asking natural logrithm, and a, b are constant coefficients.
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| US11277765B2 (en) | 2016-09-29 | 2022-03-15 | Nokia Technologies Oy | Adaptive media service |
| CN109990968A (en) * | 2019-03-22 | 2019-07-09 | 西北核技术研究所 | A kind of hardened structure Impact Location Method based on time reversal principle |
| CN111107626A (en) * | 2019-12-13 | 2020-05-05 | 重庆邮电大学 | DOA positioning method based on time reversal |
| CN112505624A (en) * | 2020-12-09 | 2021-03-16 | 电子科技大学 | Positioning system based on environment backscattering |
| CN112505624B (en) * | 2020-12-09 | 2023-01-24 | 电子科技大学 | Positioning system based on environment backscattering |
| CN114339598A (en) * | 2021-12-31 | 2022-04-12 | 天翼物联科技有限公司 | UWB imaging positioning method and system based on time reversal |
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